<?xml version="1.0"?>
<DeviceConfiguration xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:xsd="http://www.w3.org/2001/XMLSchema">
  <WheelBaseInMeters>0.31</WheelBaseInMeters>
  <WheelDiameterInMeters>0.1779</WheelDiameterInMeters>
  <Accelerometer>
    <Comment>Enter device name or description</Comment>
    <DeviceId>0</DeviceId>
    <Model>Default</Model>
    <DeviceType>Infrared</DeviceType>
    <Pose>
      <Position>
        <X>0</X>
        <Y>0</Y>
        <Z>0</Z>
      </Position>
      <Orientation>
        <X>0</X>
        <Y>0</Y>
        <Z>0</Z>
        <W>1</W>
      </Orientation>
    </Pose>
  </Accelerometer>
  <Battery>
    <Comment>Enter device name or description</Comment>
    <DeviceId>0</DeviceId>
    <Model>Default</Model>
    <DeviceType>Infrared</DeviceType>
    <Pose>
      <Position>
        <X>0</X>
        <Y>0</Y>
        <Z>0</Z>
      </Position>
      <Orientation>
        <X>0</X>
        <Y>0</Y>
        <Z>0</Z>
        <W>1</W>
      </Orientation>
    </Pose>
  </Battery>
  <Button>
    <Comment>Enter device name or description</Comment>
    <DeviceId>0</DeviceId>
    <Model>Default</Model>
    <DeviceType>Infrared</DeviceType>
    <Pose>
      <Position>
        <X>0</X>
        <Y>0</Y>
        <Z>0</Z>
      </Position>
      <Orientation>
        <X>0</X>
        <Y>0</Y>
        <Z>0</Z>
        <W>1</W>
      </Orientation>
    </Pose>
  </Button>
  <Compass>
    <Comment>Enter device name or description</Comment>
    <DeviceId>0</DeviceId>
    <Model>Default</Model>
    <DeviceType>Infrared</DeviceType>
    <Pose>
      <Position>
        <X>0</X>
        <Y>0</Y>
        <Z>0</Z>
      </Position>
      <Orientation>
        <X>0</X>
        <Y>0</Y>
        <Z>0</Z>
        <W>1</W>
      </Orientation>
    </Pose>
  </Compass>
  <Drive>
    <Comment>Enter device name or description</Comment>
    <DeviceId>0</DeviceId>
    <Model>Default</Model>
    <DeviceType>Infrared</DeviceType>
    <Pose>
      <Position>
        <X>0</X>
        <Y>0</Y>
        <Z>0</Z>
      </Position>
      <Orientation>
        <X>0</X>
        <Y>0</Y>
        <Z>0</Z>
        <W>1</W>
      </Orientation>
    </Pose>
  </Drive>
  <Encoder1>
    <Comment>Enter device name or description</Comment>
    <DeviceId>0</DeviceId>
    <Model>Default</Model>
    <DeviceType>Infrared</DeviceType>
    <Pose>
      <Position>
        <X>0</X>
        <Y>0</Y>
        <Z>0</Z>
      </Position>
      <Orientation>
        <X>0</X>
        <Y>0</Y>
        <Z>0</Z>
        <W>1</W>
      </Orientation>
    </Pose>
  </Encoder1>
  <Encoder2>
    <Comment>Enter device name or description</Comment>
    <DeviceId>0</DeviceId>
    <Model>Default</Model>
    <DeviceType>Infrared</DeviceType>
    <Pose>
      <Position>
        <X>0</X>
        <Y>0</Y>
        <Z>0</Z>
      </Position>
      <Orientation>
        <X>0</X>
        <Y>0</Y>
        <Z>0</Z>
        <W>1</W>
      </Orientation>
    </Pose>
  </Encoder2>
  <Encoder3>
    <Comment>Enter device name or description</Comment>
    <DeviceId>0</DeviceId>
    <Model>Default</Model>
    <DeviceType>Infrared</DeviceType>
    <Pose>
      <Position>
        <X>0</X>
        <Y>0</Y>
        <Z>0</Z>
      </Position>
      <Orientation>
        <X>0</X>
        <Y>0</Y>
        <Z>0</Z>
        <W>1</W>
      </Orientation>
    </Pose>
  </Encoder3>
  <Encoder4>
    <Comment>Enter device name or description</Comment>
    <DeviceId>0</DeviceId>
    <Model>Default</Model>
    <DeviceType>Infrared</DeviceType>
    <Pose>
      <Position>
        <X>0</X>
        <Y>0</Y>
        <Z>0</Z>
      </Position>
      <Orientation>
        <X>0</X>
        <Y>0</Y>
        <Z>0</Z>
        <W>1</W>
      </Orientation>
    </Pose>
  </Encoder4>
  <LeftFan>
    <Comment>Enter device name or description</Comment>
    <DeviceId>0</DeviceId>
    <Model>Default</Model>
    <DeviceType>Infrared</DeviceType>
    <Pose>
      <Position>
        <X>0</X>
        <Y>0</Y>
        <Z>0</Z>
      </Position>
      <Orientation>
        <X>0</X>
        <Y>0</Y>
        <Z>0</Z>
        <W>1</W>
      </Orientation>
    </Pose>
  </LeftFan>
  <RightFan>
    <Comment>Enter device name or description</Comment>
    <DeviceId>0</DeviceId>
    <Model>Default</Model>
    <DeviceType>Infrared</DeviceType>
    <Pose>
      <Position>
        <X>0</X>
        <Y>0</Y>
        <Z>0</Z>
      </Position>
      <Orientation>
        <X>0</X>
        <Y>0</Y>
        <Z>0</Z>
        <W>1</W>
      </Orientation>
    </Pose>
  </RightFan>
  <Gyroscope>
    <Comment>Enter device name or description</Comment>
    <DeviceId>0</DeviceId>
    <Model>Default</Model>
    <DeviceType>Infrared</DeviceType>
    <Pose>
      <Position>
        <X>0</X>
        <Y>0</Y>
        <Z>0</Z>
      </Position>
      <Orientation>
        <X>0</X>
        <Y>0</Y>
        <Z>0</Z>
        <W>1</W>
      </Orientation>
    </Pose>
  </Gyroscope>
  <HumiditySensor>
    <Comment>Enter device name or description</Comment>
    <DeviceId>0</DeviceId>
    <Model>Default</Model>
    <DeviceType>Infrared</DeviceType>
    <Pose>
      <Position>
        <X>0</X>
        <Y>0</Y>
        <Z>0</Z>
      </Position>
      <Orientation>
        <X>0</X>
        <Y>0</Y>
        <Z>0</Z>
        <W>1</W>
      </Orientation>
    </Pose>
  </HumiditySensor>
  <IRFrontLeft>
    <Comment>Enter device name or description</Comment>
    <DeviceId>0</DeviceId>
    <Model>Default</Model>
    <DeviceType>Infrared</DeviceType>
    <Pose>
      <Position>
        <X>0</X>
        <Y>0</Y>
        <Z>0</Z>
      </Position>
      <Orientation>
        <X>0</X>
        <Y>0</Y>
        <Z>0</Z>
        <W>1</W>
      </Orientation>
    </Pose>
    <MinimumDistanceInMeters>0</MinimumDistanceInMeters>
    <MaximumDistanceInMeters>0</MaximumDistanceInMeters>
    <DistanceResolutionInMeters>0</DistanceResolutionInMeters>
  </IRFrontLeft>
  <IRFrontCenter>
    <Comment>Enter device name or description</Comment>
    <DeviceId>0</DeviceId>
    <Model>Default</Model>
    <DeviceType>Infrared</DeviceType>
    <Pose>
      <Position>
        <X>0</X>
        <Y>0</Y>
        <Z>0</Z>
      </Position>
      <Orientation>
        <X>0</X>
        <Y>0</Y>
        <Z>0</Z>
        <W>1</W>
      </Orientation>
    </Pose>
    <MinimumDistanceInMeters>0</MinimumDistanceInMeters>
    <MaximumDistanceInMeters>0</MaximumDistanceInMeters>
    <DistanceResolutionInMeters>0</DistanceResolutionInMeters>
  </IRFrontCenter>
  <IRFrontRight>
    <Comment>Enter device name or description</Comment>
    <DeviceId>0</DeviceId>
    <Model>Default</Model>
    <DeviceType>Infrared</DeviceType>
    <Pose>
      <Position>
        <X>0</X>
        <Y>0</Y>
        <Z>0</Z>
      </Position>
      <Orientation>
        <X>0</X>
        <Y>0</Y>
        <Z>0</Z>
        <W>1</W>
      </Orientation>
    </Pose>
    <MinimumDistanceInMeters>0</MinimumDistanceInMeters>
    <MaximumDistanceInMeters>0</MaximumDistanceInMeters>
    <DistanceResolutionInMeters>0</DistanceResolutionInMeters>
  </IRFrontRight>
  <IRRearRight>
    <Comment>Enter device name or description</Comment>
    <DeviceId>0</DeviceId>
    <Model>Default</Model>
    <DeviceType>Infrared</DeviceType>
    <Pose>
      <Position>
        <X>0</X>
        <Y>0</Y>
        <Z>0</Z>
      </Position>
      <Orientation>
        <X>0</X>
        <Y>0</Y>
        <Z>0</Z>
        <W>1</W>
      </Orientation>
    </Pose>
    <MinimumDistanceInMeters>0</MinimumDistanceInMeters>
    <MaximumDistanceInMeters>0</MaximumDistanceInMeters>
    <DistanceResolutionInMeters>0</DistanceResolutionInMeters>
  </IRRearRight>
  <CliffFrontLeft>
    <Comment>Enter device name or description</Comment>
    <DeviceId>0</DeviceId>
    <Model>Default</Model>
    <DeviceType>Infrared</DeviceType>
    <Pose>
      <Position>
        <X>0</X>
        <Y>0</Y>
        <Z>0</Z>
      </Position>
      <Orientation>
        <X>0</X>
        <Y>0</Y>
        <Z>0</Z>
        <W>1</W>
      </Orientation>
    </Pose>
    <MinimumDistanceInMeters>0</MinimumDistanceInMeters>
    <MaximumDistanceInMeters>0</MaximumDistanceInMeters>
    <DistanceResolutionInMeters>0</DistanceResolutionInMeters>
  </CliffFrontLeft>
  <CliffFrontCenter>
    <Comment>Enter device name or description</Comment>
    <DeviceId>0</DeviceId>
    <Model>Default</Model>
    <DeviceType>Infrared</DeviceType>
    <Pose>
      <Position>
        <X>0</X>
        <Y>0</Y>
        <Z>0</Z>
      </Position>
      <Orientation>
        <X>0</X>
        <Y>0</Y>
        <Z>0</Z>
        <W>1</W>
      </Orientation>
    </Pose>
    <MinimumDistanceInMeters>0</MinimumDistanceInMeters>
    <MaximumDistanceInMeters>0</MaximumDistanceInMeters>
    <DistanceResolutionInMeters>0</DistanceResolutionInMeters>
  </CliffFrontCenter>
  <CliffFrontRight>
    <Comment>Enter device name or description</Comment>
    <DeviceId>0</DeviceId>
    <Model>Default</Model>
    <DeviceType>Infrared</DeviceType>
    <Pose>
      <Position>
        <X>0</X>
        <Y>0</Y>
        <Z>0</Z>
      </Position>
      <Orientation>
        <X>0</X>
        <Y>0</Y>
        <Z>0</Z>
        <W>1</W>
      </Orientation>
    </Pose>
    <MinimumDistanceInMeters>0</MinimumDistanceInMeters>
    <MaximumDistanceInMeters>0</MaximumDistanceInMeters>
    <DistanceResolutionInMeters>0</DistanceResolutionInMeters>
  </CliffFrontRight>
  <CliffRearLeft>
    <Comment>Enter device name or description</Comment>
    <DeviceId>0</DeviceId>
    <Model>Default</Model>
    <DeviceType>Infrared</DeviceType>
    <Pose>
      <Position>
        <X>0</X>
        <Y>0</Y>
        <Z>0</Z>
      </Position>
      <Orientation>
        <X>0</X>
        <Y>0</Y>
        <Z>0</Z>
        <W>1</W>
      </Orientation>
    </Pose>
    <MinimumDistanceInMeters>0</MinimumDistanceInMeters>
    <MaximumDistanceInMeters>0</MaximumDistanceInMeters>
    <DistanceResolutionInMeters>0</DistanceResolutionInMeters>
  </CliffRearLeft>
  <CliffRearRight>
    <Comment>Enter device name or description</Comment>
    <DeviceId>0</DeviceId>
    <Model>Default</Model>
    <DeviceType>Infrared</DeviceType>
    <Pose>
      <Position>
        <X>0</X>
        <Y>0</Y>
        <Z>0</Z>
      </Position>
      <Orientation>
        <X>0</X>
        <Y>0</Y>
        <Z>0</Z>
        <W>1</W>
      </Orientation>
    </Pose>
    <MinimumDistanceInMeters>0</MinimumDistanceInMeters>
    <MaximumDistanceInMeters>0</MaximumDistanceInMeters>
    <DistanceResolutionInMeters>0</DistanceResolutionInMeters>
  </CliffRearRight>
  <Turret>
    <Comment>Enter device name or description</Comment>
    <DeviceId>0</DeviceId>
    <Model>Default</Model>
    <DeviceType>Infrared</DeviceType>
    <Pose>
      <Position>
        <X>0</X>
        <Y>0</Y>
        <Z>0</Z>
      </Position>
      <Orientation>
        <X>0</X>
        <Y>0</Y>
        <Z>0</Z>
        <W>1</W>
      </Orientation>
    </Pose>
    <MinPositionInRadians>-3.0</MinPositionInRadians>
    <MaxPositionInRadians>3.0</MaxPositionInRadians>
  </Turret>
  <Hood>
    <Comment>Enter device name or description</Comment>
    <DeviceId>0</DeviceId>
    <Model>Default</Model>
    <DeviceType>Infrared</DeviceType>
    <Pose>
      <Position>
        <X>0</X>
        <Y>0</Y>
        <Z>0</Z>
      </Position>
      <Orientation>
        <X>0</X>
        <Y>0</Y>
        <Z>0</Z>
        <W>1</W>
      </Orientation>
    </Pose>
    <MinPositionInRadians>-1.0</MinPositionInRadians>
    <MaxPositionInRadians>1.0</MaxPositionInRadians>
  </Hood>
  <Power>
    <Comment>Enter device name or description</Comment>
    <DeviceId>0</DeviceId>
    <Model>Default</Model>
    <DeviceType>Infrared</DeviceType>
    <Pose>
      <Position>
        <X>0</X>
        <Y>0</Y>
        <Z>0</Z>
      </Position>
      <Orientation>
        <X>0</X>
        <Y>0</Y>
        <Z>0</Z>
        <W>1</W>
      </Orientation>
    </Pose>
  </Power>
  <Projector>
    <Comment>Enter device name or description</Comment>
    <DeviceId>0</DeviceId>
    <Model>Default</Model>
    <DeviceType>Infrared</DeviceType>
    <Pose>
      <Position>
        <X>0</X>
        <Y>0</Y>
        <Z>0</Z>
      </Position>
      <Orientation>
        <X>0</X>
        <Y>0</Y>
        <Z>0</Z>
        <W>1</W>
      </Orientation>
    </Pose>
  </Projector>
  <SonarLeft>
    <Comment>Enter device name or description</Comment>
    <DeviceId>0</DeviceId>
    <Model>Default</Model>
    <DeviceType>Infrared</DeviceType>
    <Pose>
      <Position>
        <X>0</X>
        <Y>0</Y>
        <Z>0</Z>
      </Position>
      <Orientation>
        <X>0</X>
        <Y>0</Y>
        <Z>0</Z>
        <W>1</W>
      </Orientation>
    </Pose>
    <MinimumDistanceInMeters>0</MinimumDistanceInMeters>
    <MaximumDistanceInMeters>0</MaximumDistanceInMeters>
    <DistancePrecisionInMeters>0</DistancePrecisionInMeters>
  </SonarLeft>
  <SonarRight>
    <Comment>Enter device name or description</Comment>
    <DeviceId>0</DeviceId>
    <Model>Default</Model>
    <DeviceType>Infrared</DeviceType>
    <Pose>
      <Position>
        <X>0</X>
        <Y>0</Y>
        <Z>0</Z>
      </Position>
      <Orientation>
        <X>0</X>
        <Y>0</Y>
        <Z>0</Z>
        <W>1</W>
      </Orientation>
    </Pose>
    <MinimumDistanceInMeters>0</MinimumDistanceInMeters>
    <MaximumDistanceInMeters>0</MaximumDistanceInMeters>
    <DistancePrecisionInMeters>0</DistancePrecisionInMeters>
  </SonarRight>
  <BatteryTemperature>
    <Comment>Enter device name or description</Comment>
    <DeviceId>0</DeviceId>
    <Model>Default</Model>
    <DeviceType>Infrared</DeviceType>
    <Pose>
      <Position>
        <X>0</X>
        <Y>0</Y>
        <Z>0</Z>
      </Position>
      <Orientation>
        <X>0</X>
        <Y>0</Y>
        <Z>0</Z>
        <W>1</W>
      </Orientation>
    </Pose>
  </BatteryTemperature>
  <TemperatureInternal>
    <Comment>Enter device name or description</Comment>
    <DeviceId>0</DeviceId>
    <Model>Default</Model>
    <DeviceType>Infrared</DeviceType>
    <Pose>
      <Position>
        <X>0</X>
        <Y>0</Y>
        <Z>0</Z>
      </Position>
      <Orientation>
        <X>0</X>
        <Y>0</Y>
        <Z>0</Z>
        <W>1</W>
      </Orientation>
    </Pose>
  </TemperatureInternal>
  <TemperatureExternal>
    <Comment>Enter device name or description</Comment>
    <DeviceId>0</DeviceId>
    <Model>Default</Model>
    <DeviceType>Infrared</DeviceType>
    <Pose>
      <Position>
        <X>0</X>
        <Y>0</Y>
        <Z>0</Z>
      </Position>
      <Orientation>
        <X>0</X>
        <Y>0</Y>
        <Z>0</Z>
        <W>1</W>
      </Orientation>
    </Pose>
  </TemperatureExternal>
  <TemperatureProjectorRed>
    <Comment>Enter device name or description</Comment>
    <DeviceId>0</DeviceId>
    <Model>Default</Model>
    <DeviceType>Infrared</DeviceType>
    <Pose>
      <Position>
        <X>0</X>
        <Y>0</Y>
        <Z>0</Z>
      </Position>
      <Orientation>
        <X>0</X>
        <Y>0</Y>
        <Z>0</Z>
        <W>1</W>
      </Orientation>
    </Pose>
  </TemperatureProjectorRed>
  <TemperatureProjectorGreen>
    <Comment>Enter device name or description</Comment>
    <DeviceId>0</DeviceId>
    <Model>Default</Model>
    <DeviceType>Infrared</DeviceType>
    <Pose>
      <Position>
        <X>0</X>
        <Y>0</Y>
        <Z>0</Z>
      </Position>
      <Orientation>
        <X>0</X>
        <Y>0</Y>
        <Z>0</Z>
        <W>1</W>
      </Orientation>
    </Pose>
  </TemperatureProjectorGreen>
  <TemperatureProjectorBlue>
    <Comment>Enter device name or description</Comment>
    <DeviceId>0</DeviceId>
    <Model>Default</Model>
    <DeviceType>Infrared</DeviceType>
    <Pose>
      <Position>
        <X>0</X>
        <Y>0</Y>
        <Z>0</Z>
      </Position>
      <Orientation>
        <X>0</X>
        <Y>0</Y>
        <Z>0</Z>
        <W>1</W>
      </Orientation>
    </Pose>
  </TemperatureProjectorBlue>
</DeviceConfiguration>
